{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T15:59:01Z","timestamp":1783526341010,"version":"3.55.0"},"reference-count":42,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T00:00:00Z","timestamp":1607558400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61633002"],"award-info":[{"award-number":["61633002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2017YFB1302503"],"award-info":[{"award-number":["2017YFB1302503"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, an output-feedback fuzzy adaptive dynamic surface controller (FADSC) based on fuzzy adaptive extended state observer (FAESO) is proposed for autonomous underwater vehicle (AUV) systems in the presence of external disturbances, parameter uncertainties, measurement noises and actuator faults. The fuzzy logic system is incorporated into both the observers and controllers to improve the adaptability of the entire system. The dynamics of the AUV system is established first, considering the external disturbances and parameter uncertainties. Based on the dynamic models, the ESO, combined with a fuzzy logic system tuning the observer bandwidth, is developed to not only adaptively estimate both system states and the lumped disturbances for the controller, but also reduce the impact of measurement noises. Then, the DSC, together with fuzzy logic system tuning the time constant of the low-pass filter, is designed using estimations from the FAESO for the AUV system. The asymptotic stability of the entire system is analyzed through Lyapunov\u2019s direct method in the time domain. Comparative simulations are implemented to verify the effectiveness and advantages of the proposed method compared with other observers and controllers considering external disturbances, parameter uncertainties and measurement noises and even the actuator faults that are not considered in the design process. The results show that the proposed method outperforms others in terms of tracking accuracy, robustness and energy consumption.<\/jats:p>","DOI":"10.3390\/s20247084","type":"journal-article","created":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T08:59:34Z","timestamp":1607590774000},"page":"7084","update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Antidisturbance Control for AUV Trajectory Tracking Based on Fuzzy Adaptive Extended State Observer"],"prefix":"10.3390","volume":"20","author":[{"given":"Song","family":"Kang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongfeng","family":"Rong","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wusheng","family":"Chou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"},{"name":"The State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"73871","DOI":"10.1109\/ACCESS.2018.2880413","article-title":"Design and vision based autonomous capture of sea organism with absorptive type remotely operated vehicle","volume":"6","author":"Hao","year":"2018","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"397","DOI":"10.20965\/jrm.2016.p0397","article-title":"Development of a small size underwater robot for observing fisheries resources\u2013Underwater robot for assisting abalone fishing","volume":"28","author":"Takagi","year":"2016","journal-title":"J. Robot. Mechatron."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1577\/1548-8446-35.1.48","article-title":"Are robots and satellites the future of fishries management?","volume":"35","author":"Gray","year":"2010","journal-title":"Fisheries"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Antonelli, G., and Antonelli, G. (2014). Underwater Robots, Springer.","DOI":"10.1007\/978-3-319-02877-4"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1109\/JOE.2003.823312","article-title":"Model-based dynamic positioning of underwater robotic vehicles: Theory and experiment","volume":"29","author":"Smallwood","year":"2004","journal-title":"IEEE J. Ocean. Eng."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"327","DOI":"10.3182\/20130902-3-CN-3020.00188","article-title":"Coordinated 3D path following for autonomous underwater vehicles via classic PID controller","volume":"46","author":"Xiang","year":"2013","journal-title":"IFAC Proc."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Wang, Y., Yan, W., Gao, B., and Cui, R. (2009, January 22\u201324). Backstepping-based path following control of an underactuated autonomous underwater vehicle. Proceedings of the 2009 International Conference on Information and Automation, Macau, China.","DOI":"10.1109\/ICINFA.2009.5204969"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"2055","DOI":"10.1080\/00207179.2015.1031182","article-title":"Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances","volume":"88","author":"Kim","year":"2015","journal-title":"Int. J. Control"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"572","DOI":"10.1007\/s40815-017-0401-3","article-title":"Survey on fuzzy-logic-based guidance and control of marine surface vehicles and underwater vehicles","volume":"20","author":"Xiang","year":"2018","journal-title":"Int. J. Fuzzy Syst."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1019","DOI":"10.1109\/TSMC.2016.2645699","article-title":"Adaptive neural network control of AUVs with control input nonlinearities using reinforcement learning","volume":"47","author":"Cui","year":"2017","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Heshmati-Alamdari, S., Nikou, A., and Dimarogonas, D.V. (2020). Robust trajectory tracking control for underactuated autonomous underwater vehicles in uncertain environments. IEEE Trans. Autom. Sci. Eng.","DOI":"10.1109\/CDC40024.2019.9030165"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"74355","DOI":"10.1109\/ACCESS.2018.2883081","article-title":"Three-dimensional path following of an underactuated AUV based on neuro-adaptive command filtered backstepping control","volume":"6","author":"Wang","year":"2018","journal-title":"IEEE Access"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Li, H., He, B., Yin, Q., Mu, X., Zhang, J., Wan, J., Wang, D., and Shen, Y. (2019). Fuzzy optimized MFAC based on ADRC in AUV heading control. Electronics, 8.","DOI":"10.3390\/electronics8060608"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Ismail, Z.H., and Putranti, V.W. (2015). Second order sliding mode control scheme for an autonomous underwater vehicle with dynamic region concept. Math. Probl. Eng., 2015.","DOI":"10.1155\/2015\/429215"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Shtessel, Y., Edwards, C., Fridman, L., and Levant, A. (2014). Sliding Mode Control and Observation, Springer.","DOI":"10.1007\/978-0-8176-4893-0"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"511","DOI":"10.1016\/j.oceaneng.2018.12.027","article-title":"Trajectory tracking for autonomous underwater vehicle: An adaptive approach","volume":"172","author":"Guerrero","year":"2019","journal-title":"Ocean Eng."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"759","DOI":"10.1016\/j.automatica.2012.02.024","article-title":"A novel adaptive-gain supertwisting sliding mode controller: Methodology and application","volume":"48","author":"Shtessel","year":"2012","journal-title":"Automatica"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Borlaug, I.L.G., Pettersen, K.Y., and Gravdahl, J.T. (2020, January 12\u201315). The generalized super-twisting algorithm with adaptive gains. Proceedings of the 2020 European Control Conference (ECC), Saint Petersburg, Russia.","DOI":"10.23919\/ECC51009.2020.9143617"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Cervantes, J., Yu, W., Salazar, S., Chairez, I., and Lozano, R. (2016, January 6\u20138). Output based backstepping control for trajectory tracking of an autonomous underwater vehicle. Proceedings of the 2016 American Control Conference (ACC), Boston, MA, USA.","DOI":"10.1109\/ACC.2016.7526680"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2700","DOI":"10.1002\/rnc.4044","article-title":"Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer","volume":"28","author":"Shao","year":"2018","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1016\/j.isatra.2018.02.021","article-title":"Dynamic surface fault tolerant control for underwater remotely operated vehicles","volume":"78","author":"Baldini","year":"2018","journal-title":"ISA Trans."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Chu, Z., and Zhu, D. (2015, January 8\u201310). 3D path-following control for autonomous underwater vehicle based on adaptive backstepping sliding mode. Proceedings of the 2015 IEEE International Conference on Information and Automation, Lijiang, China.","DOI":"10.1109\/ICInfA.2015.7279458"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Suarez Fernandez, R.A., Parra R, E.A., Milosevic, Z., Dominguez, S., and Rossi, C. (2019). Nonlinear attitude control of a spherical underwater vehicle. Sensors, 19.","DOI":"10.3390\/s19061445"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"4629","DOI":"10.1002\/rnc.4659","article-title":"Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance","volume":"29","author":"Li","year":"2019","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"364","DOI":"10.1049\/iet-its.2019.0347","article-title":"Three-dimensional trajectory tracking of an underactuated AUV based on fuzzy dynamic surface control","volume":"14","author":"Liang","year":"2019","journal-title":"IET Intell. Transp. Syst."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"640","DOI":"10.1007\/s40815-017-0386-y","article-title":"Three-dimensional path following of an underactuated AUV based on fuzzy backstepping sliding mode control","volume":"20","author":"Liang","year":"2018","journal-title":"Int. J. Fuzzy Syst."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"110504","DOI":"10.1088\/1674-1056\/24\/11\/110504","article-title":"Full-order sliding mode control of uncertain chaos in a permanent magnet synchronous motor based on a fuzzy extended state observer","volume":"24","author":"Qiang","year":"2015","journal-title":"Chin. Phys. B"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Jiao, R., Chou, W., Rong, Y., and Dong, M. (2020). Anti-disturbance control for quadrotor UAV manipulator attitude system based on fuzzy adaptive saturation super-twisting sliding mode observer. Appl. Sci., 10.","DOI":"10.3390\/app10113719"},{"key":"ref_29","unstructured":"Li, S., Yang, J., Chen, W.H., and Chen, X. (2014). Disturbance Observer-Based Control: Methods and Applications, CRC Press."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"963","DOI":"10.1016\/j.isatra.2014.03.003","article-title":"Active disturbance rejection control: Methodology and theoretical analysis","volume":"53","author":"Huang","year":"2014","journal-title":"ISA Trans."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"900","DOI":"10.1109\/TIE.2008.2011621","article-title":"From PID to active disturbance rejection control","volume":"56","author":"Han","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Juan, L., Ming, K., Xing-hua, C., and Long-fei, L. (2014, January 3\u20136). AUV control systems of nonlinear extended state observer design. Proceedings of the 2014 IEEE International Conference on Mechatronics and Automation, Tianjin, China.","DOI":"10.1109\/ICMA.2014.6885996"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Gharesi, N., Ebrahimi, Z., Forouzandeh, A., and Arefi, M.M. (2017, January 21\u201323). Extended state observer-based backstepping control for depth tracking of the underactuated AUV. Proceedings of the 2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA), Shiraz, Iran.","DOI":"10.1109\/ICCIAutom.2017.8258706"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Yin, Q., Shen, Y., Li, H., Wan, J., Wang, D., Liu, F., Kong, X., He, B., and Yan, T. (2019, January 16\u201319). Fuzzy PID motion control based on extended state observer for AUV. Proceedings of the 2019 IEEE Underwater Technology (UT), Kaohsiung, Taiwan.","DOI":"10.1109\/UT.2019.8734374"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"876","DOI":"10.1109\/TIA.2019.2955664","article-title":"Adaptive LADRC-based disturbance rejection method for electromechanical servo system","volume":"56","author":"Liu","year":"2019","journal-title":"IEEE Trans. Ind. Appl."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"465","DOI":"10.1007\/s11071-016-3253-8","article-title":"Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances","volume":"88","author":"Liu","year":"2017","journal-title":"Nonlinear Dyn."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"107080","DOI":"10.1016\/j.oceaneng.2020.107080","article-title":"Adaptive disturbance observer for trajectory tracking control of underwater vehicles","volume":"200","author":"Guerrero","year":"2020","journal-title":"Ocean Eng."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"541","DOI":"10.1007\/s00521-014-1644-7","article-title":"Stable fuzzy logic control of a general class of chaotic systems","volume":"26","author":"Precup","year":"2015","journal-title":"Neural Comput. Appl."},{"key":"ref_39","first-page":"193","article-title":"Hybrid controller design based magneto-rheological damper lookup table for quarter car suspension","volume":"18","author":"Turnip","year":"2020","journal-title":"Int. J. Artif. Intell"},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Ai, X., Kang, S., and Chou, W. (2018, January 15\u201317). System design and experiment of the hybrid underwater vehicle. Proceedings of the 2018 International Conference on Control and Robots (ICCR), Hong Kong, China.","DOI":"10.1109\/ICCR.2018.8534493"},{"key":"ref_41","unstructured":"Lee, K.H. (2004). First Course on Fuzzy Theory and Applications, Springer Science & Business Media."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"1429","DOI":"10.1016\/0005-1098(94)90008-6","article-title":"Robust control by fuzzy sliding mode","volume":"30","author":"Palm","year":"1994","journal-title":"Automatica"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.mdpi.com\/1424-8220\/20\/24\/7084\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:43:23Z","timestamp":1760179403000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/www.mdpi.com\/1424-8220\/20\/24\/7084"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,10]]},"references-count":42,"journal-issue":{"issue":"24","published-online":{"date-parts":[[2020,12]]}},"alternative-id":["s20247084"],"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.3390\/s20247084","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12,10]]}}}